This invention discloses a
machine learning optimization method based on a
mathematical model, relating to the field of
machine learning technology. The method is implemented through the following steps: First, optimization points and
momentum are initialized on a Lie group; then, gradient calculation,
momentum update, and point update operations are repeatedly performed until the convergence condition is met; subsequently, the iterative operations are mapped to optimization
layers in a neural network, and multiple optimization
layers are stacked to construct a deep unfolded
neural network architecture; this architecture is trained using domain-specific data to optimize network parameters; finally, the trained network is deployed to optimize mathematical models with geometrically structured data in
robotics. This invention fully utilizes the geometrical characteristics of the data, improving the efficiency, accuracy, and stability of the optimization process, enhancing the model's understanding and adaptability to problems, and can be applied to multiple problems in
robotics, such as posture
estimation and trajectory tracking, to achieve effective optimization.